Writing BASE data

Description

The function block KRC_WriteBaseData writes the BASE data of the robot.

Writing BASE data 1:
Function block KRC_WriteBaseData

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

The statement is executed in the case of a rising edge of the signal.

BaseNo

INT

Number of the BASE coordinate system

  • 1 … 32: BASE_DATA[1 … 32]

BaseData

FRAME

The data structure FRAME contains the following BASE data:

  • X, Y, Z: Origin of the BASE coordinate system relative to the WORLD coordinate system
  • A, B, C: Orientation of the BASE coordinate system relative to the WORLD coordinate system

(>>> FRAME)

BufferMode

INT

Mode in which the statement is executed

  • 0: DIRECT
  • 1: ABORTING
  • 2: BUFFERED

(>>> BufferMode)

Outputs

Parameter

Type

Description

Busy

BOOL

TRUE = statement is currently being transferred or has already been transferred

Done

BOOL

TRUE = statement has been executed

Aborted

BOOL

TRUE = statement has been aborted

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number